WO2015098537A1 - Electric motor drive device and control method - Google Patents
Electric motor drive device and control method Download PDFInfo
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- WO2015098537A1 WO2015098537A1 PCT/JP2014/082754 JP2014082754W WO2015098537A1 WO 2015098537 A1 WO2015098537 A1 WO 2015098537A1 JP 2014082754 W JP2014082754 W JP 2014082754W WO 2015098537 A1 WO2015098537 A1 WO 2015098537A1
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- inverter
- output
- current
- value
- limit value
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
- H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
Definitions
- the present invention relates to an electric motor drive device that supplies electric power to one electric motor from both a first inverter and a second inverter, and a control method of the electric motor drive device.
- Patent Document 1 a feedback signal to a representative current control system provided on a rotating coordinate system of an AC motor of a plurality of inverters connected in parallel to a multiphase AC motor is used as an average value of each inverter output current.
- an AC motor control device is disclosed in which a feedback signal to an unbalance suppression current control system provided on a rotating coordinate system of the AC motor is used as a difference value of each inverter output current.
- the output ratio of each inverter is fixed. For example, when the electric motor is started, the drive control of each inverter is performed. When performing initial diagnosis of each system, even if the diagnosis of one drive control system is completed in advance, it is necessary to start the motor after completion of the diagnosis of both systems, and the start of operation of the motor is delayed was there. Further, when heat generation abnormality occurs in one inverter, it is necessary to reduce both the outputs of both inverters, and there is a problem that the amount of decrease in the output torque of the electric motor becomes large.
- the present invention has been made in view of the above-described problems, and an object of the present invention is to improve the drive control performance of a motor in a motor drive device that supplies power to one motor from both a first inverter and a second inverter.
- an electric motor drive device is an electric motor drive device that includes a first inverter and a second inverter, and supplies electric power to one electric motor from both the first inverter and the second inverter, and is a predetermined motor drive device.
- a control unit is provided that changes an output ratio between the first inverter and the second inverter under conditions.
- a control method for an electric motor drive device includes a first inverter and a second inverter, and controls the electric motor drive device that supplies electric power to one electric motor from both the first inverter and the second inverter.
- the output of one of the first inverter and the second inverter can be increased or decreased with respect to the other, and the drive control performance of the motor can be improved.
- 1 is a schematic configuration diagram of an electric power steering device to which an electric motor drive device is applied in an embodiment of the present invention. It is a functional block diagram of the electric motor drive device in the embodiment of the present invention. It is a flowchart which shows the setting process of the output ratio of the 1st inverter and 2nd inverter in embodiment of this invention. It is a time chart which shows an example of the change of the output ratio of the 1st inverter and the 2nd inverter in the embodiment of the present invention. It is a time chart which shows an example of the change of the output ratio of the 1st inverter and the 2nd inverter in the embodiment of the present invention. It is a time chart which shows an example of the change of the output ratio of the 1st inverter and the 2nd inverter in the embodiment of the present invention. It is a time chart which shows an example of the change of the output ratio of the 1st inverter and the 2nd inverter in the embodiment of the present invention.
- FIG. 1 shows an embodiment of an electric motor drive device according to the present invention, and shows an example applied to an electric motor that generates a steering assist force in an electric power steering device for a vehicle.
- An electric power steering apparatus 100 shown in FIG. 1 is an apparatus that is provided in a vehicle 200 and generates a steering assist force by an electric motor 130.
- the electric power steering apparatus 100 includes a steering wheel 110, a steering torque sensor 120, an electric motor 130, a drive circuit 140 including an inverter, an electronic control unit 150, a speed reducer that decelerates the rotation of the electric motor 130 and transmits it to the pinion shaft of the steering shaft 170. 160 etc. are comprised.
- the steering torque sensor 120 and the speed reducer 160 are provided in a steering column 180 that includes a steering shaft 170.
- a pinion gear 171 is provided at the tip of the steering shaft 170.
- the rack gear 172 moves horizontally in the direction of travel of the vehicle 200.
- Steering mechanisms 202 for the wheels 201 are provided at both ends of the rack gear 172, and the direction of the wheels 201 is changed by the horizontal movement of the rack gear 172.
- the steering torque sensor 120 detects a steering torque generated in the steering shaft 170 when the driver of the vehicle performs a steering operation, and outputs a detected steering torque signal ST to the electronic control unit 150.
- the electronic control unit 150 including a microcomputer receives state quantity information used for determining steering assist force such as the steering torque signal ST and the vehicle speed signal VSP output from the vehicle speed sensor 190. Then, the electronic control unit 150 controls the driving circuit 140 based on the driving state of the vehicle such as the steering torque signal ST and the vehicle speed signal VSP, thereby controlling the torque generated by the electric motor 130, that is, the steering assist force.
- the electronic control unit 150 and the drive circuit 140 constitute an electric motor drive device that drives the electric motor 130, but the electronic control unit 150 includes the drive circuit 140 integrally. In this case, the electronic control unit 150 integrally including the drive circuit 140 constitutes the electric motor drive device.
- FIG. 2 is a functional block diagram illustrating an example of the control function of the electronic control unit 150.
- the drive circuit 140 includes a first inverter 1A and a second inverter 1B, and supplies power to one electric motor 130 from both the first inverter 1A and the second inverter 1B.
- the motor 130 includes a first winding set 2A composed of star-connected three-phase windings UA, VA, WA, and a second winding set 2B composed of three-phase windings UB, VB, WB that are also star-connected.
- the first winding set 2A and the second winding set 2B share a magnetic circuit.
- the first winding set 2A is directly connected to the first inverter 1A
- the second winding set 2B is directly connected to the second inverter 1B, and power is supplied from the first inverter 1A to the first winding set 2A.
- electric power is supplied from the second inverter 1B to the second winding set 2B.
- the first inverter 1A includes a first current detector that detects currents flowing through the windings UA, VA, and WA of the first winding set 2A, and the second inverter 1B includes the second winding set.
- a second current detector for detecting the current flowing through each of the windings UB, VB and WB of 2B is incorporated.
- the target assist torque calculation unit 20 is a steering force applied to the steering wheel by the driver and is based on the torque value detected by the steering torque sensor 120, the vehicle speed, and the like, that is, the output torque of the motor 130. Calculate the target value.
- the angle calculation unit 21 inputs an output signal of a magnetic pole position sensor that detects the magnetic pole angle of the electric motor 130 and calculates the magnetic pole angle.
- the motor rotation calculation unit 5 calculates the rotation speed of the electric motor 130 based on the magnetic pole angle information, and outputs a rotation speed signal to the target current value calculation unit 3 and the output voltage calculation unit 4.
- the target current value calculation unit 3 inputs target assist torque data and rotation speed data of the motor 130, and calculates the d-axis current command value I d * and the q-axis current command value I q * based on these data. And output.
- the output voltage calculation unit 4 outputs the d-axis current command value I d * and q-axis current command value I q * output from the target current value calculation unit 3 and the output of the current detector built in the inverters 1A and 1B.
- the d-axis actual current value I d and the q-axis actual current value I q obtained from the above are input, and further, the rotational speed data of the motor 130 is input.
- the d-axis actual current value I d is the d-axis current command value I d *, as the q-axis actual current value I q approaches the q-axis current command value I q *, the d-axis voltage command Feedback control for calculating and outputting the value Vd and the q-axis voltage command value Vq is performed.
- the output voltage calculation unit 4 calculates the difference between the d-axis actual current value I d and the d-axis current command value I d * , the q-axis actual current value I q and the q-axis current command value I q * .
- the d-axis voltage command value V d and the q-axis voltage command value V q are calculated and output using a motor model equation for vector control so that the difference approaches zero.
- the d-axis voltage command value V d and the q-axis voltage command value V q output from the output voltage calculation unit 4 are input to the first voltage distribution unit 6A and the second voltage distribution unit 6B, respectively.
- the second voltage distribution unit 6B enter the second voltage distribution constant VDC2 corresponding to the output ratio of the second inverter 1B (%),
- the d-axis voltage command value V d 2 and the q-axis voltage command value V q 2 for the second winding set 2B are output.
- the total sum of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 is 100%.
- d-axis voltage The command value V d 1 d-axis voltage command value V d 2
- “ q-axis voltage command value V q 1 q-axis voltage command value V q 2 ”
- the first inverter 1A and the second inverter 1B The output ratio is “50%: 50%”.
- the d-axis voltage command value V d 1 and the q-axis voltage command value V q 1 output from the first voltage distribution unit 6A are input to the first output duty calculation unit 7A.
- the first output duty calculation unit 7 A Based on the d-axis voltage command value V d 1, the q-axis voltage command value V q 1, and the power supply voltage of the first inverter 1 A, the first output duty calculation unit 7 A performs PWM (Pulse Width Modulation) of the first inverter 1 A. )
- PWM Pulse Width Modulation
- the d-axis voltage command value V d 2 and the q-axis voltage command value V q 2 output from the second voltage distribution unit 6B are input to the second output duty calculation unit 7B.
- the second output duty calculator 7B is configured to generate a d-axis in PWM control of the second inverter 1B based on the d-axis voltage command value V d 2, the q-axis voltage command value V q 2 and the power supply voltage of the second inverter 1B.
- the duty Dutyd2 and the q-axis duty Dutyq2 are calculated and output.
- the d-axis duty Dutyd1, the q-axis duty Dutyq1, and the information on the magnetic pole position of the motor 130 output from the first output duty calculator 7A are input to the first two-phase three-phase converter 8A. Based on these, the first two-phase / three-phase converter 8A calculates and outputs the duty command values DutyU1, DutyV1, DutyW1 of the three phases of the first winding set 2A. Further, the d-axis duty Dutyd2, the q-axis duty Dutyq2, and the information on the magnetic pole position of the motor 130 output from the second output duty calculator 7B are input to the second two-phase three-phase converter 8B. Based on these, the second two-phase / three-phase converter 8B calculates and outputs the duty command values DutyU2, DutyV2, and DutyW2 for the three phases of the second winding set 2B.
- the output ratio between the first inverter 1A and the second inverter 1B can be changed by correcting the duty command value output from the two-phase / three-phase converters 8A and 8B.
- the output ratio is changed by correcting the signals before being input to the two-phase / three-phase converters 8 ⁇ / b> A and 8 ⁇ / b> B. Even if the phases are different, the output ratio can be controlled with high accuracy.
- the duty command values DutyU1, DutyV1, and DutyW1 output from the first two-phase / three-phase converter 8A are input to the first dead time compensator 9A.
- the first dead time compensation unit 9A calculates and outputs duty command values Duty U1, Duty V1, and Duty W1 subjected to dead time compensation.
- the duty command values DutyU2, DutyV2, and DutyW2 output from the second two-phase / three-phase converter 8B are input to the second dead time compensator 9B.
- the second dead time compensation unit 9B calculates and outputs the duty command values Duty U2, Duty V2, and Duty W2 subjected to dead time compensation.
- Dead time compensation is a PWM control that creates a gate signal by delaying the rise of a PWM signal, which is a result of comparing a triangular wave and a command value, by a dead time so that the upper and lower arms of the inverters 1A and 1B are not short-circuited. This is a process for suppressing a voltage drop due to a dead time voltage.
- the duty command values DutyU1, DutyV1, and DutyW1 output from the first dead time compensation unit 9A are input to the first inverter 1A.
- the switching semiconductors constituting the upper arm and the lower arm of each phase are driven in accordance with the duty command values DutyU1, DutyV1, and DutyW1, and currents flowing through the respective windings UA, VA, WA of the first winding set 2A are driven. PWM controlled.
- the duty command values DutyU2, DutyV2, and DutyW2 output from the second dead time compensation unit 9B are input to the second inverter 1B.
- the switching semiconductors constituting the upper arm and the lower arm of each phase are driven according to the duty command values Duty U2, Duty V2, and Duty W2, and the current flowing through the respective windings UB, VB, WB of the second winding set 2B is driven. PWM controlled.
- the currents iu1, iv1, and iw1 flowing through the windings UA, VA, and WA of the first winding set 2A are detected by the first current detector built in the first inverter 1A, and the detection result is the first three-phase 2 Input to the phase converter 10A.
- the currents iu2, iv2, and iw2 flowing through the windings UB, VB, and WB of the second winding set 2B are detected by the second current detector built in the second inverter 1B, and the detection result is the second 3 Input to the phase-to-phase converter 10B.
- the first adder 11A outputs the addition result to the output voltage calculation unit 4 as the d-axis actual current value I d in the electric motor 130.
- the q-axis actual current value I q 1 output from the first three-phase two-phase converter 10A and the q-axis actual current value I q 2 output from the second three-phase two-phase converter 10B are The two adders 11B add, and the second adder 11B outputs the addition result to the output voltage calculation unit 4 as the q-axis actual current value I q in the electric motor 130.
- the voltage distribution constant calculator 12 includes a d-axis actual current value I d 1, a q-axis actual current value I q 1 output from the first three-phase two-phase converter 10A, and a second three-phase two-phase converter.
- the second current limit value CUL2 that is output from, and the total current limit value CULS that is output from the total current limit value calculation unit 14 is input.
- the voltage distribution constant calculation unit 12 then, based on the input signal, the first voltage distribution constant VDC1 that specifies the output ratio of the first inverter 1A and the second voltage distribution that specifies the output ratio of the second inverter 1B.
- the constant VDC2 is calculated, the first voltage distribution constant VDC1 is output to the first voltage distribution unit 6A, and the second voltage distribution constant VDC2 is output to the second voltage distribution unit 6B.
- the first current limit value calculation unit 13A receives the first current limit value OHUL1 (%) for overheating output from the first overheat prevention logic unit 15A, the first initial diagnosis flag, and the first constant diagnosis flag.
- the second current limit value calculation unit 13B receives the second overheat prevention second current limit value OHUL2 (%), the second initial diagnosis flag, and the second constant diagnosis flag output from the second overheat prevention logic unit 15B. .
- the output signal of the first temperature sensor 16A that detects the temperature of the first inverter 1A is input to the first overheat prevention logic unit 15A, and the temperature of the second inverter 1B is input to the second overheat prevention logic unit 15B. An output signal of the second temperature sensor 16B to be detected is input.
- the first overheat prevention logic unit 15A and the second overheat prevention logic unit 15B indicate that the first inverter 1A and the second inverter 1B are overheated according to the temperatures of the first inverter 1A and the second inverter 1B.
- Current limiting values OHUL1 and OHUL2 for suppression are set.
- the current limit value corresponds to the upper limit value of the output ratio. That is, the first overheat prevention logic unit 15A and the second overheat prevention logic unit 15B are configured to reduce the current of the first inverter 1A so as to limit the current lower with respect to the temperature rise of the first inverter 1A and the second inverter 1B.
- the limit value OHUL1 that defines the upper limit and the limit value OHUL2 that defines the upper limit of the current of the second inverter 1B are changed in a decreasing direction with respect to the temperature rise of the inverters 1A and 1B.
- the first initial diagnosis flag and the second initial diagnosis flag are raised when the initial diagnosis of the drive control system of each inverter, which is performed when the electric motor 130 is started, is completed.
- the drive control system includes a control unit for each of the inverters 1A and 1B and each of the inverters 1A and 1B.
- the diagnosis target in the initial diagnosis is at least one of the inverters 1A and 1B and the control unit for each of the inverters 1A and 1B. can do.
- the initial diagnosis is performed in a state where the outputs of the inverters 1A and 1B are shut off and the electric motor 130 is stopped, and it is diagnosed whether various arithmetic processing functions and devices normally operate.
- a failure diagnosis of the first drive control system that determines the presence or absence of a failure in at least one of the first inverter 1A and the first control unit that controls the output of the first inverter 1A, and the second inverter 1B
- a failure diagnosis of the second drive control system is performed to determine whether or not there is a failure in at least one of the second control unit that controls the output of the second inverter 1B.
- the first control unit includes each unit from the first voltage distribution unit 6A to the first dead time compensation unit 9A, and the second control unit includes the second voltage distribution unit 6B to the second dead time compensation unit. Each part up to 9B is included.
- the first initial diagnosis flag holds an initial value of zero (OFF) until the initial diagnosis of the first drive control system is completed, the initial diagnosis of the drive control system of the first inverter 1A is completed, and a failure is detected. When not done, it is set to 1 (on).
- the second initial diagnosis flag holds an initial value of zero (OFF) until the initial diagnosis of the second drive control system is completed, and the initial diagnosis of the drive control system of the second inverter 1B is completed, Raised to 1 (on) when no failure is detected.
- first constant diagnosis flag and the second constant diagnosis flag are flags indicating the result of diagnosis of the drive control system that is performed after the motor 130 is started.
- the first constant diagnosis flag is kept 1 (on) when the drive control system of the first inverter 1A is normal, and is lowered to zero (off) when an abnormality occurs.
- the second constant diagnosis flag is kept 1 (on) when the drive control system of the second inverter 1B is normal, and is lowered to zero (off) when an abnormality occurs.
- the signals of the first initial diagnosis flag and the first constant diagnosis flag are input to the first current limit value calculation unit 13A and to the first inverter 1A as an on / off command signal for the output of the first inverter 1A. Then, when the initial diagnosis of the drive control system of the first inverter 1A has been completed and the first inverter 1A is normal, the first inverter 1A is in an on state that generates an output, that is, the drive state of the motor 130. Become.
- the first inverter 1A when the initial diagnosis of the drive control system of the first inverter 1A is being performed, the first inverter 1A is in the off state, that is, the drive stop state of the electric motor 130 is maintained, and the drive control system of the first inverter 1A has a failure state.
- the first inverter 1A maintains the off state.
- the signals of the second initial diagnosis flag and the second constant diagnosis flag are input to the second current limit value calculation unit 13B, and the second inverter 1B is used as an on / off command signal for the output of the second inverter 1B. Is input.
- the second inverter 1B is turned on to generate an output, and the second inverter 1B is driven.
- the second inverter 1B maintains the off state, and the second inverter 1B maintains the off state even in the failure state of the drive control system of the second inverter 1B.
- the first current limit value calculation unit 13A outputs the first current limit value CUL1 to the second current limit value calculation unit 13B, the total current limit value calculation unit 14, and the voltage distribution constant calculation unit 12.
- the second current limit value calculation unit 13B outputs the second current limit value CUL2 to the first current limit value calculation unit 13A, the total current limit value calculation unit 14, and the voltage distribution constant calculation unit 12.
- the target current value calculation unit 3 outputs the target current value calculated based on the target assist torque or the like to the output voltage calculation unit 4 as it is, and the total current limit value CULS is If the value is less than 100%, the target current value calculated based on the target assist torque or the like is corrected to decrease and output to the output voltage calculation unit 4.
- the first current limit value calculating unit 13A sets the first current limit value CUL1 in the first inverter 1A
- the second current limit value calculating unit 13B is the second current limit value in the second inverter 1B.
- the first voltage distribution unit 6A outputs the d-axis voltage command value V d 1 and the q-axis voltage command value V q 1 for the first winding set 2A based on the current limit value CUL1.
- the second voltage distribution unit 6B outputs a d-axis voltage command value V d 2 and a q-axis voltage command value V q 2 for the second winding set 2B based on the current limit value CULq2.
- the output ratio between the first inverter 1A and the second inverter 1B is changed under a predetermined condition.
- the end timing of the initial diagnosis and the abnormality of the inverters 1A and 1B are set as predetermined conditions for changing the output ratio between the first inverter 1A and the second inverter 1B.
- the first current limit value calculation unit 13A calculates the first current limit value CUL1 according to the first initial diagnosis flag
- the second current limit value calculation unit 13B determines the first current limit value CUL1 according to the second initial diagnosis flag. 2.
- the first current limit value calculation unit 13A calculates the first current limit value CUL1 according to the first current limit value OHUL1 for preventing overheating
- the second current limit value calculating unit 13B calculates the second current for preventing overheating.
- the output ratio can be changed according to the occurrence of overheating abnormality in the inverters 1A and 1B, that is, the occurrence of a temperature rise above a predetermined level.
- the standard value of the output ratio between the first inverter 1A and the second inverter 1B is set equal to the output of the first inverter 1A and the output of the second inverter 1B. 50% ”, and the output ratio is changed from“ 50%: 50% ”to the end timing of the initial diagnosis and the occurrence of overheating abnormality.
- the flowchart of FIG. 3 shows an example of an output ratio setting process between the first inverter 1A and the second inverter 1B, which is performed by the electronic control unit 150.
- the flowchart of FIG. 3 shows an example of processing contents in the first current limit value calculating unit 13A, the second current limit value calculating unit 13B, the total current limit value calculating unit 14, and the voltage distribution constant calculating unit 12.
- the routine shown in the flowchart of FIG. 3 is executed by the electronic control unit 150 by an interrupt process for each set time.
- step S501 indicates an output ratio setting process by the electronic control unit 150 when the initial diagnosis when starting the electric motor 130 is performed.
- the electronic control unit 150 indicates that the first initial diagnosis flag has risen and the initial diagnosis of the drive control system of the first inverter 1A has ended, and the first current limit value CUL1 is 50%. In other words, in other words, it is determined whether or not the first current limit value CUL1 does not reach 50% in the activated state.
- the initial value of the first current limit value CUL1 is 0%, that is, the energization cutoff request state, and when the motor 130 is started, the first current limit value CUL1 is increased from the initial value 0% to 50%.
- the electronic control unit 150 bypasses the process of increasing the first current limit value CUL1 in step S503, and proceeds to step S504. That is, the increase process of the first current limit value CUL1 and the increase process of the second current limit value CUL2 are not performed in parallel.
- a process of increasing the second current limit value CUL2 from the previous value is performed.
- the initial diagnosis of the drive control system of the first inverter 1A and the initial diagnosis of the drive control system of the second inverter 1B are started at the same time and performed in parallel. By re-executing or verifying the diagnosis result, one initial diagnosis may end prior to the other initial diagnosis. For example, assuming that the initial diagnosis of the drive control system of the first inverter 1A is completed prior to the initial diagnosis of the drive control system of the second inverter 1B, the first initial diagnosis flag is switched from off to on, Since the initial diagnosis flag is kept off, and the initial values of the first current limit value CUL1 and the second current limit value CUL2 are both 0%, the electronic control unit 150 performs steps S501 to S502. To go to.
- the electronic control unit 150 determines that the second current limit value CUL2 is 0% in step S502, and proceeds to step S503 to increase the first current limit value CUL2. Furthermore, the electronic control unit 150 proceeds to step S504, but bypasses steps S505 and S506 because the second initial diagnosis flag is off before the end of the initial diagnosis for the drive control system of the second inverter 1B. Then, the process proceeds to step S507. As a result, the process of increasing the second current limit value CUL2 is not started, and the second current limit value CUL2 is held at 0% of the initial value.
- the initial diagnosis for the drive control system of the second inverter 1B ends during the process of increasing the first current limit value CUL1 and the second initial diagnosis flag is switched from OFF to ON, the second current limit value CUL2 is Since it is 0%, the electronic control unit 150 proceeds to step S505. However, if the first current limit value CUL1 does not reach 50% in the process of increasing the first current limit value CUL1, the electronic control unit 150 bypasses step S506, so that the process of increasing the second current limit value CUL2 is performed. Not started.
- the electronic control unit 150 proceeds to step S506, and the second current limit value CUL2 Start the augmentation process.
- the electronic control unit 150 increases the second current limit value CUL2.
- the first current limit value CUL1 is increased after the initial diagnosis of the drive control system of the first inverter 1A is completed and the second current limit value CUL2 reaches 50%. .
- the output ratio between the first inverter 1A and the second inverter 1B is fixed at “50%: 50%”
- the initial diagnosis of the drive control system of the first inverter 1A and the initial diagnosis of the drive control system of the second inverter 1B The electric motor 130 cannot be started until after both are terminated.
- the output ratio of the inverter for which the initial diagnosis has not been completed is maintained at 0%.
- the output ratio of the inverter for which the initial diagnosis has been completed can be increased independently.
- the steering assist force can be generated promptly by the quick start of the electric motor 130.
- the electronic control unit 150 increases the inverter output after the initial diagnosis is delayed after the inverter output that has been completed by the initial diagnosis reaches 50%, which is the final share, and finally both Since the sum of the inverter outputs is increased to 100%, the output torque of the electric motor 130 can be smoothly increased at a constant speed toward the target torque. Therefore, in the electric power steering apparatus 100, the steering assist force can be increased smoothly, and the driver can be prevented from feeling uncomfortable with the steering operation when the steering assist force is raised.
- step S507 the output of the inverter completed after the initial diagnosis is increased after the share ratio of the inverter that completed the initial diagnosis reaches 50%, but the initial diagnosis is delayed.
- the electronic control unit 150 when increasing the output of the first inverter 1A and the output of the second inverter 1B in parallel, holds, for example, one inverter output at 50% and increases the other inverter output.
- the increase speed of each inverter output can be set so that the increase speed of the total output is equal to that of the inverter. Thereby, the output torque of the electric motor 130 can be increased smoothly at a constant speed toward the target torque.
- the speed setting process will be described later in detail.
- step S507 the electronic control unit 150 sets the first current limit value CUL1 and the second current limit value CUL2 according to the end timing of the initial diagnosis as described above, the electronic control unit 150 proceeds to step S507 and step S508, and proceeds to the first inverter 1A and the first current limit value CUL2. 2
- the current limit values CUL1 and CUL2 of the inverter 1B are corrected for measures against overheating.
- step S507 the electronic control unit 150 performs an overheat prevention current limit value set according to the temperature detection value of the first inverter 1A, that is, the current upper limit value OHUL1 for overheat suppression, and the processing in steps S501 to S506.
- the lower limit value of the set first current limit value CUL1 is set as the final first current limit value CUL1.
- the electronic control unit 150 changes the first current limit value CUL1 to be lower.
- the electronic control unit 150 sets the current limit value OHUL2 for preventing overheating set according to the temperature detection value of the second inverter 1B, that is, the current upper limit value OHUL2 for suppressing overheating of the second inverter 1B.
- the lower limit value of the second current limit value CUL2 set in the processing of step S501 to step S506 is set as the final second current limit value CUL2.
- the output of the second inverter 1B needs to be reduced to suppress overheating of the second inverter 1B.
- the second current limit value CUL2 is changed to be lower.
- the current limit values OHUL1 and OHUL2 for preventing overheating are set to values of 50% or more, and steps S507 and S508 are performed.
- the first current limit value CUL1 and the second current limit value CUL2 are not changed lower. Therefore, for example, when the temperature of the first inverter 1A rises beyond the set range while the temperature of the second inverter 1B remains within the set range, the first current limit value CUL1 is reduced while the second The current limit value CUL2 is maintained.
- step S509 A process of setting the sum of the current limit value CUL1 and the second current limit value CUL2 as the final total current limit value CULS is performed.
- step S510 and step S511 the electronic control unit 150 performs the first voltage distribution constant VDC1 for determining the output voltage in the first inverter 1A, and the second voltage distribution for determining the output voltage in the second inverter 1B. Set the constant VDC2.
- both the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are 50. % Will be set. Further, for example, since the first inverter 1A is in an overheated state, the first current limit value CUL1 is set to a value lower than 50%, and the temperature of the second inverter 1B is within the allowable range. When the value CUL2 is set to 50%, the first voltage distribution constant VDC1 is set to a value less than 50%, while the second voltage distribution constant VDC2 is set to a value higher than 50%. .
- the voltage distribution constant VDC is corrected to the increase side so as to compensate for the output decrease of the inverter that is overheated, and the decrease in the output torque of the electric motor 130 can be suppressed.
- the output ratio between the first inverter 1A and the second inverter 1B is fixed, when an abnormal temperature increase occurs in one inverter, the output of the inverter in which the abnormal temperature increase occurs to suppress overheating. In addition, the output of the inverter that does not cause an abnormal increase in temperature needs to be reduced in parallel, and even if overheating can be suppressed, the output torque of the motor 130 is greatly reduced.
- the output ratio between the first inverter 1A and the second inverter 1B is variable, the output of the inverter in which the temperature rise is abnormally lowered, and the temperature rises abnormally. The output of the inverter in which no occurrence has occurred can be increased, and a decrease in the output torque of the motor 130 can be suppressed while overheating is suppressed.
- the electronic control unit 150 can reduce the current limit values OHUL1 and OHUL2 for preventing overheating at different rates. That is, when an abnormality occurs in both the first inverter 1A and the second inverter 1B, the electronic control unit 150 sets the current limit value CUL of the inverter having the larger abnormality to the inverter having the smaller abnormality. The current limit value CUL can be greatly reduced.
- the current limit value OHUL1 of the second inverter 1B can be set to A% (0% ⁇ A ⁇ 50%), and the current limit value OHUL2 for preventing overheating of the second inverter 1B can be set to B% (A ⁇ B ⁇ 50%).
- the output ratio of the first inverter 1A and the second inverter 1B in addition to the end timing and temperature of the initial diagnosis, for example, depending on the failure of the current detector built in the inverters 1A and 1B
- the output ratio can be changed.
- the inverter is continuously driven based on the estimated current value when an abnormality occurs in the current detector, the torque control accuracy decreases due to the estimated current error. Therefore, the electronic control unit 150 is controlled based on the value detected by the current detector while the current detector is normal while the output ratio of the inverter controlled based on the estimated current value is reduced due to the failure of the current detector. By maintaining or increasing the output ratio of the inverter, the deterioration of torque control accuracy is suppressed.
- the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are determined.
- the electronic control unit 150 after step S512, performs the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2, that is, Then, correction processing of the output ratio between the first inverter 1A and the second inverter 2B is performed.
- the electronic control unit 150 determines whether the absolute value of the q-axis current value of the first inverter 1A is equal to or greater than a predetermined value and the absolute value of the actual q-axis current value of the second inverter 1B is equal to or greater than the predetermined value. Determine whether or not.
- the actual q-axis current value of the first inverter 1A is the q-axis current value output from the first three-phase / two-phase converter 10A
- the q-axis current value of the second inverter 1B is the second
- the q-axis current value output from the three-phase / two-phase converter 10B, and the predetermined value of the absolute value of the q-axis current value can be set to 20A, for example. That is, in step S512, the electronic control unit 150 determines whether or not the actual q-axis current value of the first inverter 1A is not near zero and the actual q-axis current value of the second inverter 1B is not near zero. Determine.
- the unit 150 determines whether or not the absolute value of the q-axis current value is larger than a predetermined value. Therefore, the predetermined value compared with the absolute value of the q-axis current value is a value set in consideration of the current detection error and the degree of influence of the current balance deviation.
- the electronic control unit 150 determines that “
- step S513 the electronic control unit 150 adds the absolute value of the q-axis current value of the first inverter 1A to the first current integrated value CIN1 up to the previous time, and uses the value after the addition process as the current first current integrated value CIN1. Set to.
- step S514 the electronic control unit 150 adds the absolute value of the q-axis current value of the second inverter 1B to the second current integrated value CIN2 up to the previous time, and uses the value after the addition process as the current second current. Set to integrated value CIN2.
- the electronic control unit 150 accumulates the absolute value of the q-axis current value of the first inverter 1A every time this routine is executed in step S513, and the absolute value of the q-axis current value of the second inverter 1B is calculated in step S514. Accumulate each time the routine is executed.
- step S515 the electronic control unit 150 performs a process of increasing the cumulative number of current integration processes in steps S513 and S514 by 1 from the previous value.
- step S516 the electronic control unit 150 determines whether or not the cumulative number has reached a predetermined number.
- the predetermined number of times is set as the number of times that the current balance can be determined with sufficient accuracy even if the current detection value is affected by noise, and can be, for example, about 100 times.
- the electronic control unit 150 proceeds to step S517 when the cumulative number of current integration has reached the predetermined number, and bypasses step S517 and step S518 when the cumulative number of current integration is less than the predetermined number. Then, the process proceeds to step S519.
- the electronic control unit 150 proceeds to Step S517 when the cumulative number of current integration reaches the predetermined number, and proceeds to Step S517.
- the electronic control unit 150 resets the first current integrated value CIN1, the second current integrated value CIN2, and the accumulated number of current integrations to zero, and the actual current value integration process is performed again. Like that.
- the initial value of the balance index value is 100%.
- the balance index value is a value in which the ratio of the actual output current of the first inverter 1A and the actual output current of the second inverter 1B matches the ratio of the first current limit value CIN1 and the second current integrated value CIN2.
- the power supply voltage of the first inverter 1A is different from the power supply voltage of the second inverter 1B, or the wiring impedance in the drive control system of the first inverter 1A and the wiring impedance in the drive control system of the second inverter 1B.
- the ratio between the actual output current of the first inverter 1A and the actual output current of the second inverter 1B is a value commensurate with the ratio of the first current limit value CUL1 and the second current limit value CUL2. Deviate. In other words, the actual output current of the first inverter 1A and / or the actual output current of the second inverter 1B deviates from the target, and the balance index value becomes a value away from 100%.
- balance index value when the balance index value is larger than 100%, it means that the actual output of the first inverter 1A is higher than the command or the actual output of the second inverter 1B is lower than the command. Conversely, when the balance index value is smaller than 100%, the actual output of the first inverter 1A is lower than the command, or the actual output of the second inverter 1B is higher than the command.
- step S519 the electronic control unit 150 corrects the first output voltage distribution constant VDC1 according to the balance index value. Specifically, the electronic control unit 150 performs a process of setting the calculation result of “VDC1 ⁇ [150% ⁇ balance index value / 2]” to the corrected first voltage distribution constant VDC1.
- step S520 the electronic control unit 150 corrects the second voltage distribution constant VDC2 according to the balance index value. Specifically, the electronic control unit 150 performs a process of setting the calculation result of “VDC2 ⁇ [50% + balance index value / 2]” to the corrected second voltage distribution constant VDC2.
- the actual output current of the first inverter 1A is higher than the value commensurate with the ratio between the first current limit value CUL1 and the second current limit value CUL2, and / or the actual output current of the second inverter 1B.
- the first voltage distribution constant VDC1 is corrected to the decreasing side, and conversely, the second voltage distribution constant VDC2 is corrected to the increasing side, so that the balance index value approaches 100% and the first current limit value CUL1.
- the actual output current of the first inverter 1A and the actual output current of the second inverter 1B are corrected to a current close to the ratio between the first current limit value CUL2 and the second current limit value CUL2.
- the actual output current of the first inverter 1A is lower than the value commensurate with the ratio between the first current limit value CUL1 and the second current limit value CUL2, and / or the actual output of the second inverter 1B.
- the current is high and the balance index value is smaller than 100%, “150% ⁇ balance index value / 2” is larger than 100%, and “50% + balance index value / 2 "is a value smaller than 100%.
- the first voltage distribution constant VDC1 is corrected to the increasing side
- the second voltage distribution constant VDC2 is corrected to the decreasing side, so that the balance index value approaches 100% and the first current limit value CUL1.
- the actual output current of the first inverter 1A and the actual output current of the second inverter 1B are corrected to a current close to the ratio between the first current limit value CUL2 and the second current limit value CUL2.
- the output current can be a current having a ratio close to the ratio between the first current limit value CUL1 and the second current limit value CUL2, and the ratio of the actual current can be controlled with high accuracy.
- the first voltage distribution constant VDC1 determined as described above is output to the first voltage distribution unit 6A in FIG.
- the d-axis voltage command value V d and the q-axis voltage command value V q output from the output voltage calculation unit 4 are multiplied by the first voltage distribution constant VDC1, so that the first inverter 1A
- the d-axis voltage command value V d 1 and the q-axis voltage command value V q 1 are converted.
- the second voltage distribution constant VDC2 is output to the second voltage distribution unit 6B in FIG.
- the d-axis voltage command value V d and the q-axis voltage command value V q output from the output voltage calculation unit 4 are multiplied by the second voltage distribution constant VDC2, whereby the second inverter 1B
- the d-axis voltage command value V d 2 and the q-axis voltage command value V q 2 are converted.
- the time chart of FIG. 4 shows an example of changes in the current limit values CUL1 and CUL2 and the voltage distribution constants VDC1 and VDC2 when the electric motor 130 is started.
- the time chart of FIG. 4 exemplifies a case where the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are not corrected in step S519 and step S520 of the flowchart of FIG.
- the initial diagnosis of the second inverter 1B is completed at time t2, but since the first current limit value CUL1 has not increased to 50% at the time t2, the process of increasing the second current limit value CUL2 is not started.
- the first current limit value CUL1 reaches 50% at time t3
- a process of gradually increasing the second current limit value CUL2 that has been held at 0% until then is started.
- the constant VDC1 starts to decrease from 100%, and the second voltage distribution constant VDC2 relatively increases from 0%.
- the power supply voltage of the first inverter 1A is different from the power supply voltage of the second inverter 1B, or the impedance of the wiring in the drive control system of the first inverter 1A and the impedance of the wiring in the drive control system of the second inverter 1B If they are different, the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are corrected from 50% so that the ratio of the actual current is maintained at “50:50”.
- Time t5 is the timing when the temperature of the first inverter 1A has become higher than the set temperature, that is, the occurrence of an abnormal temperature rise. In this case, the output of the first inverter 1A is decreased to 1 It is required to lower the temperature of the inverter 1A. Therefore, in the motor drive device shown in FIG.
- a current limit value OHUL1 for preventing overheating is set to suppress the temperature rise, and this current limit value OHUL1
- the value of the current limit value OHUL1 is changed to the final first current limit value CUL1, so that the first current limit value CUL1 is changed to a value lower than 50%. Is done.
- the second current limit value CUL2 is maintained at 50%.
- the first current limit value CUL1 is changed to a value lower than 50% and the total current limit value VDCS used for the calculation of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 decreases, the first voltage distribution constant VDC1 Decreases and the second voltage distribution constant VDC2 increases.
- the electronic control unit 150 shown in the flowchart of FIG. 3 for example, when the temperature of the first inverter 1A abnormally increases, the first current limit value CUL1 is changed to a value lower than 50%, and the temperature Is within the normal range, the second current limit value CUL2 of the second inverter 1B is maintained at 50%.
- the second current limit value CUL2 is increased by the amount that the first current limit value CUL1 is changed to a value lower than 50%, and the total current limit value CULS is 100%. Configured to hold.
- the first current limit value CUL1 is changed to a value lower than 50% because the abnormal rise in temperature of the first inverter 1A is determined at time t1, while the second inverter Since no abnormal temperature rise is observed in 1B, the second current limit value CUL2 is changed to a value higher than 50% so that the total current limit value CULS is maintained at 100%.
- the total current limit value CULS does not change, the first voltage distribution constant VDC1 decreases and decreases as the first current limit value CUL1 decreases, and the second current limit value CUL2 increases as the second voltage distribution constant CUL1 increases. VDC2 will increase and change.
- the total current limit value CULS is lower than 100% by determining the abnormal increase in the temperature of the first inverter 1 ⁇ / b> A.
- the overall current limit value CULS is maintained at 100% even if an abnormal increase in the temperature of the first inverter 1A is determined.
- the time chart of FIG. 6 shows another example of the setting process of the current limit values CUL1 and CUL2 when starting the electric motor 130.
- a process of increasing the first current limit value CUL1 from 0% is started.
- the initial diagnosis of the second inverter 1B is not completed, and the second current limit value CUL2 is held at 0%.
- the first current limit value CUL1 has not increased to the set value SL (0% ⁇ set value SL ⁇ 50%) at the time t2.
- the first current limit value CUL1 When the first current limit value CUL1 reaches the set value SL at time t3, a process of gradually increasing the second current limit value CUL2 that has been held at 0% until then is started, and the first current limit value CUL1 is started.
- the increasing process of CUL1 and the increasing process of the second current limit value CUL2 are performed in parallel.
- the first current limit value CUL1 is increased from time t3 to 50% so that the increase speed of the total current limit value CULS after time t3 is equal to the increase speed from time t1 to time t3.
- the increase rate of the first current limit value CUL1 is made slower than before time t3, and the second current limit value CUL2 is increased.
- the first voltage distribution constant VDC1 is increased from 100%.
- the second voltage distribution constant VDC2 increases from 0% while decreasing.
- the second current limit value CUL2 is increased at the increasing speed of the first current limit value CUL1 from time t1 to time t3, and when the second current limit value CUL2 reaches 50% at time t5, The increasing process of the first current limit value CUL1 and the second current limit value CUL2 ends. Between time t4 and time t5, the first current limit value CUL1 is maintained at 50%, and the second current limit value CUL2 increases toward 50%. Therefore, the increasing speed of the second current limit value CUL2 is constant. If so, the first voltage distribution constant VDC1 decreases to 50% at a constant speed, and the second voltage distribution constant VDC2 increases to 50% at a constant speed.
- the increase rate of the total current limit value CULS is not limited to a configuration that is constant from 0% to 100%.
- the first current is set so that the increase rate of the total current limit value CULS gradually decreases.
- the increasing speed of the limit value CUL1 and the second current limit value CUL2 can be set.
- the setting process of the current limit value at the time of startup shown in the time chart of FIG. 6 is the same as the setting process of the current limit value at the time of temperature rise shown in the time chart of FIG. 4 and the time chart of FIG. It can be combined with any of the current limit value setting processing when the temperature rises.
- the basic value of the output ratio between the first inverter 1A and the second inverter 1B after the start of the electric motor 130 is set to “50:50”, but the output ratio is not limited to this.
- the output of the inverter 1A can be set larger than that of the second inverter 1B, or the output of the second inverter 1B can be set larger than that of the first inverter 1A.
- the electric motor 130 is not limited to the configuration having the first winding set 2A and the second winding set 2B, and has one set of winding sets, and power is supplied from a plurality of inverters to the same winding. It can be set as the structure supplied.
- the electric motor drive device can be applied to an electric motor that generates a steering assist force in an electric power steering device.
- an electric motor for an electric brake which is a brake system in which a brake pad pressing mechanism is electrified in a vehicle, It can be applied to an electric motor that drives an oil pump or a water pump.
- the correction of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 can be performed based on the moving average value or instantaneous value of the actual current detection value in each inverter. Further, the correction processing of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 in steps S512 to S520 in the flowchart of FIG. 3 can be omitted.
- the change in the output ratio between the first inverter 1A and the second inverter 1B can be any one of the change due to the temperature rise of the inverter or the abnormality of the current detector and the change due to the end timing of the initial diagnosis.
- the motor drive device is not limited to the configuration having two inverters, and has a configuration having three or more inverters that supply power to the same motor, and the output ratio of at least two of the three or more inverters. Can be made variable.
- the temperature of the inverter can be directly detected by a temperature sensor, or can be estimated based on a detected value of a temperature that changes in correlation with the temperature of the inverter, or can be estimated from the output current of the inverter.
Abstract
Description
また、一方のインバータに発熱異常が発生したときに、両インバータの出力を共に低下させる必要が生じ、電動機の出力トルクの低下量が大きくなるという問題があった。 Conventionally, in an electric motor driving apparatus that supplies electric power to one electric motor from both the first inverter and the second inverter, the output ratio of each inverter is fixed. For example, when the electric motor is started, the drive control of each inverter is performed. When performing initial diagnosis of each system, even if the diagnosis of one drive control system is completed in advance, it is necessary to start the motor after completion of the diagnosis of both systems, and the start of operation of the motor is delayed was there.
Further, when heat generation abnormality occurs in one inverter, it is necessary to reduce both the outputs of both inverters, and there is a problem that the amount of decrease in the output torque of the electric motor becomes large.
また、本願発明に係る電動機駆動装置の制御方法は、第1インバータ及び第2インバータを備え、前記第1インバータと前記第2インバータとの双方から1つの電動機に電力を供給する電動機駆動装置の制御方法であって、前記第1インバータと前記第2インバータとの出力比率を変更する所定条件を検出するステップと、前記所定条件において前記第1インバータと前記第2インバータとの出力比率を変更するステップと、を含む。 Therefore, an electric motor drive device according to the present invention is an electric motor drive device that includes a first inverter and a second inverter, and supplies electric power to one electric motor from both the first inverter and the second inverter, and is a predetermined motor drive device. A control unit is provided that changes an output ratio between the first inverter and the second inverter under conditions.
In addition, a control method for an electric motor drive device according to the present invention includes a first inverter and a second inverter, and controls the electric motor drive device that supplies electric power to one electric motor from both the first inverter and the second inverter. A method for detecting a predetermined condition for changing an output ratio between the first inverter and the second inverter, and a step for changing an output ratio between the first inverter and the second inverter under the predetermined condition. And including.
図1は、本発明に係る電動機駆動装置の一実施形態を示し、車両用の電動パワーステアリング装置において操舵補助力を発生する電動機に適用した例を示す。
図1に示す電動パワーステアリング装置100は、車両200に備えられ、操舵補助力を電動機130によって発生させる装置である。 Embodiments of the present invention will be described below.
FIG. 1 shows an embodiment of an electric motor drive device according to the present invention, and shows an example applied to an electric motor that generates a steering assist force in an electric power steering device for a vehicle.
An electric
操舵トルクセンサ120及び減速機160は、ステアリングシャフト170を内包するステアリングコラム180内に設けられる。 The electric
The
操舵トルクセンサ120は、車両の運転者がステアリング操作を行うことでステアリングシャフト170に発生する操舵トルクを検出し、検出した操舵トルクの信号STを電子制御ユニット150に出力する。 A
The
そして、電子制御ユニット150は、操舵トルク信号ST、車速信号VSPなどの車両の運転状態に基づいて駆動回路140を制御することで、電動機130の発生トルク、つまり、操舵補助力を制御する。 The
Then, the
図2において、駆動回路140は第1インバータ1A及び第2インバータ1Bを含み、1つの電動機130に第1インバータ1A及び第2インバータ1Bの双方から電力を供給する。 FIG. 2 is a functional block diagram illustrating an example of the control function of the
In FIG. 2, the
そして、第1巻線組2Aは第1インバータ1Aと直接接続され、第2巻線組2Bは第2インバータ1Bと直接接続され、第1巻線組2Aには第1インバータ1Aから電力が供給され、第2巻線組2Bには第2インバータ1Bから電力が供給される。
なお、第1インバータ1Aは、第1巻線組2Aの各巻線UA、VA、WAに流れる電流をそれぞれに検出する第1電流検出器を内蔵し、第2インバータ1Bは、第2巻線組2Bの各巻線UB、VB、WBに流れる電流をそれぞれに検出する第2電流検出器を内蔵している。 The
The
The
角度演算部21は、電動機130の磁極角度を検出する磁極位置センサの出力信号を入力して磁極角度を演算する。モータ回転演算部5は、磁極角度の情報に基づいて電動機130の回転速度を演算して、回転速度の信号を目標電流値演算部3及び出力電圧演算部4に出力する。 The target assist
The angle calculation unit 21 inputs an output signal of a magnetic pole position sensor that detects the magnetic pole angle of the
出力電圧演算部4は、目標電流値演算部3から出力されるd軸電流指令値Id *、q軸電流指令値Iq *、及び、インバータ1A,1Bに内蔵された電流検出器の出力から求められたd軸実電流値Id、q軸実電流値Iqを入力し、更に、電動機130の回転速度のデータを入力する。 The target current
The output
具体的には、出力電圧演算部4は、d軸実電流値Idとd軸電流指令値Id *との差分、q軸実電流値Iqとq軸電流指令値Iq *との差分が零に近づくように、ベクトル制御用のモータモデル式を用いてd軸電圧指令値Vd及びq軸電圧指令値Vqを演算して出力する。 Output
Specifically, the output
第1電圧分配部6Aは、d軸電圧指令値Vd及びq軸電圧指令値Vqと共に、第1インバータ1Aの出力比率に相当する第1電圧分配定数VDC1(%)を入力し、第1巻線組2Aのためのd軸電圧指令値Vd1及びq軸電圧指令値Vq1を出力する。 The d-axis voltage command value V d and the q-axis voltage command value V q output from the output
The first
なお、第1電圧分配定数VDC1と第2電圧分配定数VDC2との総和は100%であり、“第1電圧分配定数VDC1=第2電圧分配定数VDC2=50%”のときは、“d軸電圧指令値Vd1=d軸電圧指令値Vd2”、かつ、“q軸電圧指令値Vq1=q軸電圧指令値Vq2”となり、第1インバータ1Aと第2インバータ1Bとの出力比率は“50%:50%”となる。 The second
The total sum of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 is 100%. When “first voltage distribution constant VDC1 = second voltage distribution constant VDC2 = 50%”, “d-axis voltage The command value V d 1 = d-axis voltage
第1出力デューティ演算部7Aは、d軸電圧指令値Vd1、q軸電圧指令値Vq1、及び、第1インバータ1Aの電源電圧に基づいて、第1インバータ1AのPWM(Pulse Width Modulation)制御におけるd軸デューティDutyd1及びq軸デューティDutyq1を演算して出力する。 The d-axis voltage command value V d 1 and the q-axis voltage command value V q 1 output from the first
Based on the d-axis voltage command value V d 1, the q-axis voltage command value V q 1, and the power supply voltage of the
第2出力デューティ演算部7Bは、d軸電圧指令値Vd2、q軸電圧指令値Vq2、及び、第2インバータ1Bの電源電圧に基づいて、第2インバータ1BのPWM制御におけるd軸デューティDutyd2及びq軸デューティDutyq2を演算して出力する。 Further, the d-axis voltage
The second
また、第2出力デューティ演算部7Bから出力されるd軸デューティDutyd2、q軸デューティDutyq2、更に、電動機130の磁極位置の情報は、第2の2相3相変換部8Bに入力される。第2の2相3相変換部8Bは、これらに基づいて第2巻線組2Bの3相それぞれのデューティ指令値DutyU2、DutyV2、DutyW2を演算して出力する。 The d-axis duty Dutyd1, the q-axis duty Dutyq1, and the information on the magnetic pole position of the
Further, the d-axis duty Dutyd2, the q-axis duty Dutyq2, and the information on the magnetic pole position of the
但し、図2に示す構成のように、2相3相変換部8A,8Bに入力される前の信号を補正することで前記出力比率を変更する構成とすることで、電動機130の巻線の位相が異なっていても高い精度で出力比率を制御できる。 It is possible to change the output ratio between the
However, as in the configuration shown in FIG. 2, the output ratio is changed by correcting the signals before being input to the two-phase / three-phase converters 8 </ b> A and 8 </ b> B. Even if the phases are different, the output ratio can be controlled with high accuracy.
また、第2の2相3相変換部8Bから出力されるデューティ指令値DutyU2、DutyV2、DutyW2は第2デッドタイム補償部9Bに入力される。そして、第2デッドタイム補償部9Bは、デッドタイム補償を施したデューティ指令値DutyU2、DutyV2、DutyW2を演算して出力する。 The duty command values DutyU1, DutyV1, and DutyW1 output from the first two-phase / three-phase converter 8A are input to the first
Further, the duty command values DutyU2, DutyV2, and DutyW2 output from the second two-phase / three-
第1インバータ1Aでは、デューティ指令値DutyU1、DutyV1、DutyW1に従って各相の上アーム、下アームを構成するスイッチング半導体が駆動され、第1巻線組2Aの各巻線UA、VA、WAに流れる電流がPWM制御される。 The duty command values DutyU1, DutyV1, and DutyW1 output from the first dead
In the
第2インバータ1Bでは、デューティ指令値DutyU2、DutyV2、DutyW2に従って各相の上アーム、下アームを構成するスイッチング半導体が駆動され、第2巻線組2Bの各巻線UB、VB、WBに流れる電流がPWM制御される。 The duty command values DutyU2, DutyV2, and DutyW2 output from the second dead
In the
また、第2巻線組2Bの各巻線UB、VB、WBに流れる電流iu2、iv2、iw2は、第2インバータ1Bに内蔵される第2電流検出器によって検出され、検出結果は第2の3相2相変換部10Bに入力される。第2の3相2相変換部10Bは、電流iu2、iv2、iw2をd軸実電流値Id2、q軸実電流値Iq2に変換して出力する。 The currents iu1, iv1, and iw1 flowing through the windings UA, VA, and WA of the first winding set 2A are detected by the first current detector built in the
The currents iu2, iv2, and iw2 flowing through the windings UB, VB, and WB of the second winding set 2B are detected by the second current detector built in the
また、第1の3相2相変換部10Aから出力されるq軸実電流値Iq1と第2の3相2相変換部10Bから出力されるq軸実電流値Iq2とを第2加算器11Bが加算し、第2加算器11Bは、加算結果を電動機130におけるq軸実電流値Iqとして出力電圧演算部4に出力する。 First addition of the d-axis actual current value I d 1 output from the first three-phase two-
The q-axis actual current value I q 1 output from the first three-phase two-
そして、電圧分配定数演算部12は、上記の入力信号に基づいて、第1インバータ1Aの出力比率を指定する第1電圧分配定数VDC1と、第2インバータ1Bの出力比率を指定する第2電圧分配定数VDC2とを演算し、第1電圧分配定数VDC1を第1電圧分配部6Aに出力し、第2電圧分配定数VDC2を第2電圧分配部6Bに出力する。 The voltage distribution
The voltage distribution
第1過熱防止ロジック部15Aには、第1インバータ1Aの温度を検出する第1温度センサ16Aの出力信号が入力され、また、第2過熱防止ロジック部15Bには、第2インバータ1Bの温度を検出する第2温度センサ16Bの出力信号が入力される。 The first current limit
The output signal of the
つまり、第1過熱防止ロジック部15A及び第2過熱防止ロジック部15Bは、第1インバータ1A、第2インバータ1Bの温度上昇に対して電流をより低く制限するように、第1インバータ1Aの電流の上限を規定する制限値OHUL1と、第2インバータ1Bの電流の上限を規定する制限値OHUL2とを、インバータ1A,1Bの温度上昇に対して減少方向に変化させる。 The first overheat
That is, the first overheat
なお、駆動制御系にはインバータ1A、1B及びインバータ1A、1B毎の制御部が含まれるが、初期診断における診断対象は、インバータ1A、1Bとインバータ1A、1B毎の制御部との少なくとも一方とすることができる。
初期診断は、インバータ1A、1Bの出力を遮断して電動機130を停止させた状態で行われ、各種の演算処理機能やデバイスが正常に動作するか否かが診断される。 The first initial diagnosis flag and the second initial diagnosis flag are raised when the initial diagnosis of the drive control system of each inverter, which is performed when the
The drive control system includes a control unit for each of the
The initial diagnosis is performed in a state where the outputs of the
なお、第1制御部には、第1電圧分配部6Aから第1デッドタイム補償部9Aまでの各部が含まれ、第2制御部には、第2電圧分配部6Bから第2デッドタイム補償部9Bまでの各部が含まれる。 Further, as an initial diagnosis, a failure diagnosis of the first drive control system that determines the presence or absence of a failure in at least one of the
The first control unit includes each unit from the first
同様に、第2初期診断フラグは、第2駆動制御系の初期診断が終了するまでは初期値である零(オフ)を保持し、第2インバータ1Bの駆動制御系の初期診断が終了し、故障が検出されなかったときに1(オン)に立ち上げられる。 The first initial diagnosis flag holds an initial value of zero (OFF) until the initial diagnosis of the first drive control system is completed, the initial diagnosis of the drive control system of the
Similarly, the second initial diagnosis flag holds an initial value of zero (OFF) until the initial diagnosis of the second drive control system is completed, and the initial diagnosis of the drive control system of the
そして、第1インバータ1Aの駆動制御系の初期診断が終了していてかつ第1インバータ1Aが正常であるときに、第1インバータ1Aは出力を発生させるオン状態、つまり、電動機130の駆動状態になる。
一方、第1インバータ1Aの駆動制御系の初期診断中である場合は、第1インバータ1Aはオフ状態、つまり、電動機130の駆動停止状態を保持し、第1インバータ1Aの駆動制御系の故障状態においても、第1インバータ1Aはオフ状態を保持する。 The signals of the first initial diagnosis flag and the first constant diagnosis flag are input to the first current limit
Then, when the initial diagnosis of the drive control system of the
On the other hand, when the initial diagnosis of the drive control system of the
そして、第2インバータ1Bの駆動制御系の初期診断が終了していてかつ第2インバータ1Bが正常であるときに、第2インバータ1Bは出力を発生させるオン状態になり、第2インバータ1Bの駆動制御系の初期診断中である場合、第2インバータ1Bはオフ状態を保持し、第2インバータ1Bの駆動制御系の故障状態においても第2インバータ1Bはオフ状態を保持する。 Similarly, the signals of the second initial diagnosis flag and the second constant diagnosis flag are input to the second current limit
When the initial diagnosis of the drive control system of the
第1電流制限値演算部13Aは、第1電流制限値CUL1を、第2電流制限値演算部13B、総合電流制限値演算部14、及び電圧分配定数演算部12に出力する。一方、第2電流制限値演算部13Bは、第2電流制限値CUL2を、第1電流制限値演算部13A、総合電流制限値演算部14、及び電圧分配定数演算部12に出力する。 In addition, between the first dead
The first current limit
そして、目標電流値演算部3は、目標アシストトルクなどに基づき演算した目標電流値を、総合電流制限値CULSで補正してから出力電圧演算部4に出力する。
つまり、目標電流値演算部3は、総合電流制限値CULSが100%であれば、目標アシストトルクなどに基づき演算した目標電流値をそのまま出力電圧演算部4に出力し、総合電流制限値CULSが100%未満の値であれば、目標アシストトルクなどに基づき演算した目標電流値を減少補正して出力電圧演算部4に出力する。 The total current limit
Then, the target current
That is, if the total current limit value CULS is 100%, the target current
そして、第1電圧分配部6Aは、電流制限値CUL1に基づき、第1巻線組2Aのためのd軸電圧指令値Vd1及びq軸電圧指令値Vq1を出力する。また、第2電圧分配部6Bは、電流制限値CULq2に基づき、第2巻線組2Bのためのd軸電圧指令値Vd2及びq軸電圧指令値Vq2を出力する。これによって、所定条件で第1インバータ1Aと第2インバータ1Bとの出力比率が変更される構成となっている。 In the motor drive device having the above-described configuration, the first current limit
Then, the first
具体的には、第1電流制限値演算部13Aが第1初期診断フラグに応じて第1電流制限値CUL1を演算し、第2電流制限値演算部13Bが第2初期診断フラグに応じて第2電流制限値CUL2を演算することで、第1インバータ1Aの駆動制御系の初期診断と第2インバータ1Bの駆動制御系の初期診断との終了タイミングの違いに応じて出力比率を変更し得る構成としてある。 As an example, in the configuration shown in FIG. 2, the end timing of the initial diagnosis and the abnormality of the
Specifically, the first current limit
なお、本実施形態では、一例として、第1インバータ1Aと第2インバータ1Bとの出力比率の標準値を、第1インバータ1Aの出力と第2インバータ1Bの出力とを同等とする“50%:50%”とし、初期診断の終了タイミングや過熱異常の発生に対して出力比率を“50%:50%”から変更するように構成される。 Further, the first current limit
In the present embodiment, as an example, the standard value of the output ratio between the
換言すれば、図3のフローチャートは、第1電流制限値演算部13A、第2電流制限値演算部13B、総合電流制限値演算部14、電圧分配定数演算部12における処理内容の一例を示す。
図3のフローチャートに示すルーチンは、電子制御ユニット150が設定時間毎の割り込み処理によって実施する。 The flowchart of FIG. 3 shows an example of an output ratio setting process between the
In other words, the flowchart of FIG. 3 shows an example of processing contents in the first current limit
The routine shown in the flowchart of FIG. 3 is executed by the
電子制御ユニット150は、ステップS501で、第1初期診断フラグが立ち上がっていて第1インバータ1Aの駆動制御系の初期診断が終了していることを示し、かつ、第1電流制限値CUL1が50%でない状態、換言すれば、起動状態で第1電流制限値CUL1が50%に達していない状態である否かを判定する。 Each step from step S501 to step S506 indicates an output ratio setting process by the
In step S501, the
電子制御ユニット150は、“第1初期診断フラグ=オン”、かつ、“第1電流制限値CUL1≠50%”であるときには、ステップS502へ進み、“第1初期診断フラグ=オフ”である場合には、ステップS502、ステップS503を迂回してステップS504へ進み、“第1電流制限値CUL1=50%”である場合にも、ステップS502、ステップS503を迂回してステップS504へ進む。 The initial value of the first current limit value CUL1 is 0%, that is, the energization cutoff request state, and when the
When “first initial diagnosis flag = ON” and “first current limit value CUL1 ≠ 50%”,
このため、“第1初期診断フラグ=オン”、かつ、“第1電流制限値CUL1≠50%”であるときは、第1電流制限値CUL1を50%に向けて増大させている途中の過渡状態である。
電子制御ユニット150は、“第1初期診断フラグ=オン”、かつ、“第1電流制限値CUL1≠50%”であると判定してステップS502へ進むと、第2電流制限値CUL2が0%又は50%であるか否かを判定する。 As will be described later, the first current limit value CUL1 is gradually increased from the initial value of 0% when the initial diagnosis of the drive control system of the
For this reason, when “first initial diagnosis flag = on” and “first current limit value CUL1 ≠ 50%”, a transient in the middle of increasing the first current limit value CUL1 toward 50% State.
When the
一方、第2電流制限値CUL2が0%又は50%であるとき、つまり、電動機130の起動状態における第2電流制限値CUL2の増大処理が開始されていないか、又は、第2電流制限値CUL2の増大処理が完了している場合、電子制御ユニット150は、ステップS503へ進み、第1電流制限値CUL1を前回値から所定値(例えば、所定値=0.05%)だけ増大させる処理を行う。 Here, when the second current limit value CUL2 is neither 0% nor 50%, that is, a transient state in which the second current limit value CUL2 is gradually increased from the
On the other hand, when the second current limit value CUL2 is 0% or 50%, that is, the increase process of the second current limit value CUL2 in the activated state of the
そして、“第2初期診断フラグ=オン”、かつ、“第2電流制限値CUL2≠50%”であれば、電子制御ユニット150はステップS505へ進み、第1電流制限値CUL1が0%又は50%であるか否かを判定する。 In step S504, the
If “second initial diagnosis flag = on” and “second current limit value CUL2 ≠ 50%”, the
つまり、電子制御ユニット150は、“第2初期診断フラグ=オン”、かつ、“第2電流制限値CUL2≠50%”であって、しかも、第1電流制限値CUL1が0%又は50%であるときに、第2電流制限値CUL2を前回値よりも増大させる処理を実施する。 If the first current limit value CUL1 is 0% or 50%, the
That is, the
例えば、第インバータ1Aの駆動制御系の初期診断が、第2インバータ1Bの駆動制御系の初期診断に先行して終了したと仮定すると、第1初期診断フラグはオフからオンに切り替わる一方、第2初期診断フラグはオフ状態を保持することになり、また、第1電流制限値CUL1及び第2電流制限値CUL2の初期値は共に0%であるから、電子制御ユニット150は、ステップS501からステップS502へ進むことになる。 The initial diagnosis of the drive control system of the
For example, assuming that the initial diagnosis of the drive control system of the
更に、電子制御ユニット150は、ステップS504に進むが、第2インバータ1Bの駆動制御系についての初期診断の終了前で第2初期診断フラグがオフであるために、ステップS505、ステップS506を迂回してステップS507に進む。これにより、第2電流制限値CUL2の増大処理が開始されず、第2電流制限値CUL2は初期値の0%に保持されることになる。 The
Furthermore, the
係る第1電流制限値CUL1の増大処理途中で、第2インバータ1Bの駆動制御系についての初期診断の終了し、第2初期診断フラグがオフからオンに切り替わった場合、第2電流制限値CUL2は0%であるから、電子制御ユニット150は、ステップS505に進むことになる。
しかし、第1電流制限値CUL1の増大過程で第1電流制限値CUL1が50%に達していないと、電子制御ユニット150は、ステップS506を迂回するから、第2電流制限値CUL2の増大処理は開始されない。 If the second current limit value CUL2 is held at 0% of the initial value, a determination of “second current limit value CUL2 = 0%” is made in step S502, and the process of increasing the first current limit value CUL1 is continued. Will be.
When the initial diagnosis for the drive control system of the
However, if the first current limit value CUL1 does not reach 50% in the process of increasing the first current limit value CUL1, the
同様に、第2インバータ1Bの駆動制御系の初期診断が、第1インバータ1Aの駆動制御系の初期診断に先行して終了した場合、電子制御ユニット150は、第2電流制限値CUL2の増大処理を先行して開始し、第1電流制限値CUL1の増大処理は、第1インバータ1Aの駆動制御系の初期診断が終了し、かつ、第2電流制限値CUL2が50%に達してから開始する。 Then, when the initial diagnosis of the drive control system of the
Similarly, when the initial diagnosis of the drive control system of the
これに対し、第1インバータ1Aと第2インバータ1Bとの出力比率を変更できるよう構成した本実施形態の電動機駆動装置では、初期診断が完了していないインバータの出力比率を0%に保持したまま初期診断が先に終了したインバータの出力比率を独立して増大させることができる。 When the output ratio between the
On the other hand, in the motor drive device of the present embodiment configured to be able to change the output ratio between the
そして、電動パワーステアリング装置100では、電動機130の起動が早いことで操舵補助力を速やかに発生させることができる。 Therefore, it is possible to start the
In the electric
従って、電動パワーステアリング装置100では、操舵補助力を滑らかに増大させることができ、操舵補助力を立ち上げるときに、運転者にステアリング操作の違和感を与えることを抑制できる。 In addition, the
Therefore, in the electric
なお、前述の実施例では、初期診断が先行して終了したインバータの分担率が50%に達してから、初期診断が遅れて終了したインバータの出力を増大させる構成としたが、初期診断が遅れて終了したインバータの出力の増大を開始させるタイミングは、初期診断が終了してから、先行して出力が増大されるインバータの分担率が目標値(例えば、目標値=50%)に達するまでの間で任意に設定できる。 After the increase processing of the first current limit value CUL1 and the second current limit value CUL2 in the activated state is completed and both the first current limit value CUL1 and the second current limit value CUL2 reach 50%, electronic control is performed. The
In the above-described embodiment, the output of the inverter completed after the initial diagnosis is increased after the share ratio of the inverter that completed the initial diagnosis reaches 50%, but the initial diagnosis is delayed. The timing to start increasing the output of the inverter that has been completed is from the end of the initial diagnosis until the share of the inverter whose output is increased in advance reaches a target value (for example, target value = 50%). Can be set arbitrarily between.
これにより、電動機130の出力トルクを目標トルクに向けて一定速度で滑らかに増大させることができる。係る速度設定処理については、後で詳細に説明する。 Here, when increasing the output of the
Thereby, the output torque of the
ステップS507で、電子制御ユニット150は、第1インバータ1Aの温度検出値に応じて設定した過熱防止用の電流制限値つまり過熱抑制のための電流上限値OHUL1と、ステップS501-ステップS506の処理で設定した第1電流制限値CUL1とのうち低い方の制限値を、最終的な第1電流制限値CUL1に設定する。 When the
In step S507, the
同様に、ステップS508で、電子制御ユニット150は、第2インバータ1Bの温度検出値に応じて設定した過熱防止用の電流制限値OHUL2つまり第2インバータ1Bの過熱抑制のための電流上限値OHUL2と、ステップS501-ステップS506の処理で設定した第2電流制限値CUL2とのうち低い方の制限値を、最終的な第2電流制限値CUL2に設定する。 That is, when the current limit value OHUL1 for preventing overheating is lower than the first current limit value CUL1, the output of the
Similarly, in step S508, the
なお、インバータ1A,1Bの温度が正常範囲内であって過熱状態でない場合、過熱防止用の電流制限値OHUL1、OHUL2は50%以上の値に設定されるようにしてあり、ステップS507、ステップS508で第1電流制限値CUL1、第2電流制限値CUL2がより低く変更されることはない。
従って、例えば、第1インバータ1Aの温度が設定範囲を超えて上昇する一方で、第2インバータ1Bの温度が設定範囲内を維持する場合、第1電流制限値CUL1を低下させる一方で、第2電流制限値CUL2は維持されることになる。 That is, when the current limit value OHUL2 for preventing overheating is lower than the second current limit value CUL2, the output of the
When the temperatures of the
Therefore, for example, when the temperature of the
電子制御ユニット150は、次のステップS510、ステップS511で、第1インバータ1Aにおける出力電圧を決定するための第1電圧分配定数VDC1、第2インバータ1Bにおける出力電圧を決定するための第2電圧分配定数VDC2の設定を行う。 When the
In the next step S510 and step S511, the
また、ステップS511で電子制御ユニット150は、総合電流制限値CULSに対する第2電流制限値CUL2の比率を第2電圧分配定数VDC2(VDC2=CUL2/CULS)とする処理を実施する。 In step S510, the
In step S511, the
また、例えば、第1インバータ1Aが過熱状態であるために第1電流制限値CUL1が50%よりも低い値に設定され、第2インバータ1Bの温度が許容範囲内であるために第2電流制限値CUL2が50%に設定されると、第1電圧分配定数VDC1は50%未満の値に設定される一方で、第2電圧分配定数VDC2は50%よりも高い値に設定されることになる。 Here, if the total current limit value CULS is 100% and the first current limit value CUL1 and the second current limit value CUL2 are both 50%, both the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are 50. % Will be set.
Further, for example, since the
これに対し、図2に示す電動機駆動装置は、第1インバータ1Aと第2インバータ1Bとの出力比率が可変であり、温度の異常上昇が発生しているインバータの出力を下げ、温度の異常上昇が発生していないインバータの出力を上げることができ、過熱を抑制しつつ電動機130の出力トルクの低下を抑制できる。 When the output ratio between the
On the other hand, in the motor drive device shown in FIG. 2, the output ratio between the
つまり、第1インバータ1Aと第2インバータ1Bとの双方に異常が発生したときに、電子制御ユニット150は、異常の程度が大きい方のインバータの電流制限値CULを異常の程度が小さい方のインバータの電流制限値CULに比べてより大きく低下させることができる。
例えば、第1インバータ1Aと第2インバータ1Bとが共に過熱傾向にあるものの、第2インバータ1Bに比べて第1インバータ1Aがより過熱傾向が顕著である場合に、第1インバータ1Aの過熱防止用の電流制限値OHUL1をA%(0%<A<50%)とし、第2インバータ1Bの過熱防止用の電流制限値OHUL2をB%(A<B<50%)とすることができる。 In addition, when the temperature rise occurs in both the
That is, when an abnormality occurs in both the
For example, when both the
電流検出器に異常が発生したときに、電流の推定値に基づきインバータの駆動を継続させる構成とした場合、電流の推定誤差によってトルク制御精度が低下する。
そこで、電子制御ユニット150は、電流検出器が故障して電流の推定値に基づき制御されるインバータの出力比率を低下させる一方で、電流検出器が正常で電流検出器による検出値に基づき制御されるインバータの出力比率を維持又は増加させることで、トルク制御精度の悪化を抑制する。 Moreover, as conditions for changing the output ratio of the
When the inverter is continuously driven based on the estimated current value when an abnormality occurs in the current detector, the torque control accuracy decreases due to the estimated current error.
Therefore, the
電子制御ユニット150は、ステップS512で、第1インバータ1Aのq軸電流値の絶対値が所定値以上で、かつ、第2インバータ1Bの実q軸電流値の絶対値が所定値以上であるか否かを判定する。
なお、第1インバータ1Aの実q軸電流値とは、第1の3相2相変換部10Aから出力されるq軸電流値であり、第2インバータ1Bのq軸電流値とは、第2の3相2相変換部10Bから出力されるq軸電流値であり、q軸電流値の絶対値の所定値は例えば20Aとすることができる。
つまり、ステップS512で、電子制御ユニット150は、第1インバータ1Aの実q軸電流値が零付近でなく、かつ、第2インバータ1Bの実q軸電流値が零付近でない状態であるか否かを判定する。 Through the above processing, the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are determined. The
In step S512, the
The actual q-axis current value of the
That is, in step S512, the
そして、電子制御ユニット150は、“|第1インバータ1Aのq軸電流値|≧所定値”、かつ、“|第2インバータ1Bのq軸電流値|≧所定値”であって、第1インバータ1Aのq軸電流値及び第2インバータ1Bのq軸電流値が共に零付近でない場合には、ステップS513へ進む。 When the q-axis current value is close to zero, the current detection error is large, and the current balance deviation between the
Then, the
ステップS513で、電子制御ユニット150は、第1インバータ1Aのq軸電流値の絶対値を前回までの第1電流積算値CIN1に加算し、加算処理後の値を今回の第1電流積算値CIN1に設定する。
同様に、ステップS514で、電子制御ユニット150は、第2インバータ1Bのq軸電流値の絶対値を前回までの第2電流積算値CIN2に加算し、加算処理後の値を今回の第2電流積算値CIN2に設定する。 On the other hand, when at least one of the absolute value of the q-axis current value of the
In step S513, the
Similarly, in step S514, the
なお、電子制御ユニット150は、q軸電流値に代えてb軸電流値を積算することができ、また、電子制御ユニット150は、インバータ毎に“電流値=√(Iq 2+Id 2)”を演算し、この“電流値=√(Iq 2+Id 2)”を積算することができる。 That is, the
The
次いで、電子制御ユニット150は、ステップS516で、累積回数が所定回数に達しているか否かを判定する。
なお、所定回数は、電流検出値にノイズの影響などがあっても、電流バランスを十分な精度で判定できる回数として設定され、例えば100回程度とすることができる。 In step S515, the
Next, in step S516, the
Note that the predetermined number of times is set as the number of times that the current balance can be determined with sufficient accuracy even if the current detection value is affected by noise, and can be, for example, about 100 times.
電子制御ユニット150は、電流積算の累積回数が所定回数に達していてステップS517に進むと、第1電流積算値CIN1、第2電流積算値CIN2、第1電流制限値CUL1、第2電流制限値CUL2に基づいて、第1インバータ1Aの実際の出力電流と第2インバータ1Bの実際の出力電流とのバランス状態を表すバランス指標値を、“バランス指標値=[CIN1/CIN2]/[CUL1/CUL2]”として算出する。 The
The
なお、バランス指標値の初期値は100%である。 In the next step S518, the
The initial value of the balance index value is 100%.
一方、例えば、第1インバータ1Aの電源電圧と第2インバータ1Bの電源電圧とが異なっていたり、第1インバータ1Aの駆動制御系における配線のインピーダンスと第2インバータ1Bの駆動制御系における配線のインピーダンスとが異なっていたりすると、第1インバータ1Aの実際の出力電流と第2インバータ1Bの実際の出力電流との比率が、第1電流制限値CUL1と第2電流制限値CUL2との比率に見合う値からずれる。つまり、第1インバータ1Aの実際の出力電流及び/又は第2インバータ1Bの実際の出力電流が目標からずれることになり、バランス指標値は100%から離れた値になる。 The balance index value is a value in which the ratio of the actual output current of the
On the other hand, for example, the power supply voltage of the
逆に、バランス指標値が100%よりも小さい場合は、第1インバータ1Aの実際の出力が指令よりも低いか、若しくは、第2インバータ1Bの実際の出力が指令よりも高いことを表す。 Specifically, when the balance index value is larger than 100%, it means that the actual output of the
Conversely, when the balance index value is smaller than 100%, the actual output of the
また、電子制御ユニット150は、ステップS520で、バランス指標値に応じて第2電圧分配定数VDC2を補正する。具体的には、電子制御ユニット150は、“VDC2×[50%+バランス指標値/2]”の演算結果を、補正後の第2電圧分配定数VDC2とする処理を行う。 In step S519, the
In step S520, the
このとき、“VDC1×[150%-バランス指標値/2]=VDC1×[150%-100%/2]=VDC1×100%”となり、また、“VDC2×[50%+バランス指標値/2]=VDC2×[50%+100%/2]=VDC2×100%”となる。
従って、第1電圧分配定数VDC1及び第2電圧分配定数VDC1は補正されることなく、ステップS510、ステップS511での演算結果を保持する。 For example, if the ratio of the actual output current of the
At this time, “VDC1 × [150% −balance index value / 2] = VDC1 × [150% −100% / 2] = VDC1 × 100%” and “VDC2 × [50% + balance index value / 2”. ] = VDC2 × [50% + 100% / 2] = VDC2 × 100% ”.
Therefore, the first voltage distribution constant VDC1 and the second voltage distribution constant VDC1 are not corrected, and hold the calculation results in step S510 and step S511.
これにより、第1電圧分配定数VDC1は減少側に補正され、逆に、第2電圧分配定数VDC2は増大側に補正されることで、バランス指標値が100%に近づき、第1電流制限値CUL1と第2電流制限値CUL2との比率に近い電流に、第1インバータ1Aの実際の出力電流と第2インバータ1Bの実際の出力電流とが修正される。 On the other hand, the actual output current of the
As a result, the first voltage distribution constant VDC1 is corrected to the decreasing side, and conversely, the second voltage distribution constant VDC2 is corrected to the increasing side, so that the balance index value approaches 100% and the first current limit value CUL1. The actual output current of the
これにより、第1電圧分配定数VDC1は増大側に補正され、逆に、第2電圧分配定数VDC2は減少側に補正されることで、バランス指標値が100%に近づき、第1電流制限値CUL1と第2電流制限値CUL2との比率に近い電流に、第1インバータ1Aの実際の出力電流と第2インバータ1Bの実際の出力電流とが修正される。 Conversely, the actual output current of the
As a result, the first voltage distribution constant VDC1 is corrected to the increasing side, and conversely, the second voltage distribution constant VDC2 is corrected to the decreasing side, so that the balance index value approaches 100% and the first current limit value CUL1. The actual output current of the
同様に、第2電圧分配定数VDC2は、図2の第2電圧分配部6Bに出力される。第2電圧分配部6Bでは、出力電圧演算部4から出力されるd軸電圧指令値Vd及びq軸電圧指令値Vqに第2電圧分配定数VDC2を乗算することで、第2インバータ1Bにおけるd軸電圧指令値Vd2及びq軸電圧指令値Vq2に変換する。 The first voltage distribution constant VDC1 determined as described above is output to the first
Similarly, the second voltage distribution constant VDC2 is output to the second
なお、図4のタイムチャートは、図3のフローチャートのステップS519、ステップS520での第1電圧分配定数VDC1及び第2電圧分配定数VDC2の修正が行われない場合を例示する。
時刻t1にて第1インバータ1Aの初期診断が終了すると、第1電流制限値CUL1を0%から増大させる処理が開始される。一方、時刻t1では、第2インバータ1Bの初期診断が終了しておらず、第2電流制限値CUL2は0%に保持される。 The time chart of FIG. 4 shows an example of changes in the current limit values CUL1 and CUL2 and the voltage distribution constants VDC1 and VDC2 when the
The time chart of FIG. 4 exemplifies a case where the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are not corrected in step S519 and step S520 of the flowchart of FIG.
When the initial diagnosis of the
なお、“VDC1=CUL1/CULS”及び“VDC2=CUL2/CULS”の演算において、“CULS=0%”であるとき、つまり、第1電流制限値CUL1及び第2電流制限値CUL2が共に0%であるときは、第1電圧分配定数VDC1及び第2電圧分配定数VDC2は0%に設定されるものとする。 Here, the first voltage distribution constant VDC1 is calculated as “VDC1 = CUL1 / CULS”, while the second current limit value CUL2 is 0%, so that “CULS = CUL1” and the second current limit value CUL2 In the increasing process of the first current limit value CUL1 where is 0%, the first voltage distribution constant VDC1 maintains 100%.
In the calculation of “VDC1 = CUL1 / CULS” and “VDC2 = CUL2 / CULS”, when “CULS = 0%”, that is, the first current limit value CUL1 and the second current limit value CUL2 are both 0%. In this case, the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are set to 0%.
そして、時刻t3にて第1電流制限値CUL1が50%に達すると、それまで0%に保持されていた第2電流制限値CUL2を徐々に増大させる処理が開始される。 The initial diagnosis of the
When the first current limit value CUL1 reaches 50% at time t3, a process of gradually increasing the second current limit value CUL2 that has been held at 0% until then is started.
なお、第1インバータ1Aの電源電圧と第2インバータ1Bの電源電圧とが異なっていたり、第1インバータ1Aの駆動制御系における配線のインピーダンスと第2インバータ1Bの駆動制御系における配線のインピーダンスとが異なっていたりすると、実電流の比率が“50:50”を保持するように、第1電圧分配定数VDC1及び第2電圧分配定数VDC2が50%から修正されることになる。 When the second current limit value CUL2 reaches 50% at time t4, the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 are both 50%, and thereafter, “VDC1 = 50%” and “VDC2 = 50 % ”.
The power supply voltage of the
そこで、図2に示した電動機駆動装置では、第1インバータ1Aの温度の異常上昇が発生すると、係る温度上昇を抑制するための過熱防止用の電流制限値OHUL1が設定され、この電流制限値OHUL1よりも第1電流制限値CUL1が高い場合には、電流制限値OHUL1の値を最終的な第1電流制限値CUL1とすることで、第1電流制限値CUL1が50%よりも低い値に変更される。 Time t5 is the timing when the temperature of the
Therefore, in the motor drive device shown in FIG. 2, when an abnormal rise in the temperature of the
第1電流制限値CUL1が50%よりも低い値に変更され、第1電圧分配定数VDC1及び第2電圧分配定数VDC2の演算に用いられる総合電流制限値VDCSが減ると、第1電圧分配定数VDC1は減少変化し、第2電圧分配定数VDC2は増大変化することになる。 On the other hand, since the temperature of the
When the first current limit value CUL1 is changed to a value lower than 50% and the total current limit value VDCS used for the calculation of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 decreases, the first voltage distribution constant VDC1 Decreases and the second voltage distribution constant VDC2 increases.
図5のタイムチャートでは、時刻t1にて第1インバータ1Aの温度の異常上昇が判定されたことで、第1電流制限値CUL1が50%よりも低い値に変更される一方で、第2インバータ1Bには異常な温度上昇が認められないので、総合電流制限値CULSが100%を保持するように、第2電流制限値CUL2が50%よりも高い値に変更される。 In the process by the
In the time chart of FIG. 5, the first current limit value CUL1 is changed to a value lower than 50% because the abnormal rise in temperature of the
ここで、図4のタイムチャートに示した例では、第1インバータ1Aの温度の異常上昇が判定されることで総合電流制限値CULSが100%よりも下がるが、図5のタイムチャートに示した例では、前述のように、第1インバータ1Aの温度の異常上昇が判定されても総合電流制限値CULSは100%を維持する。 In this case as well, although the total current limit value CULS does not change, the first voltage distribution constant VDC1 decreases and decreases as the first current limit value CUL1 decreases, and the second current limit value CUL2 increases as the second voltage distribution constant CUL1 increases. VDC2 will increase and change.
Here, in the example shown in the time chart of FIG. 4, the total current limit value CULS is lower than 100% by determining the abnormal increase in the temperature of the first inverter 1 </ b> A. In the example, as described above, the overall current limit value CULS is maintained at 100% even if an abnormal increase in the temperature of the
時刻t1にて第1インバータ1Aの初期診断が終了すると、第1電流制限値CUL1を0%から増大させる処理が開始される。一方、時刻t1では、第2インバータ1Bの初期診断が終了しておらず、第2電流制限値CUL2は0%に保持される。 Further, the time chart of FIG. 6 shows another example of the setting process of the current limit values CUL1 and CUL2 when starting the
When the initial diagnosis of the
なお、時刻t1から時刻t3までの間は“CUL2=0%”であって、“CUL1=CULS”となるから、“VDC1=100%”かつ“VDC2=0%”の状態を維持することになる。 Although the initial diagnosis of the
Note that, from time t1 to time t3, “CUL2 = 0%” and “CUL1 = CULS”, so that “VDC1 = 100%” and “VDC2 = 0%” are maintained. Become.
ここで、時刻t3以降での総合電流制限値CULSの増大速度が、時刻t1から時刻t3までの間での増大速度と同等になるように、時刻t3から第1電流制限値CUL1が50%に達するまでの間では第1電流制限値CUL1の増加速度を時刻t3の前よりも遅くし、第2電流制限値CUL2を増加させる。 When the first current limit value CUL1 reaches the set value SL at time t3, a process of gradually increasing the second current limit value CUL2 that has been held at 0% until then is started, and the first current limit value CUL1 is started. The increasing process of CUL1 and the increasing process of the second current limit value CUL2 are performed in parallel.
Here, the first current limit value CUL1 is increased from time t3 to 50% so that the increase speed of the total current limit value CULS after time t3 is equal to the increase speed from time t1 to time t3. In the meantime, the increase rate of the first current limit value CUL1 is made slower than before time t3, and the second current limit value CUL2 is increased.
時刻t4で第1電流制限値CUL1が50%に達すると、時刻t4以降では第1電流制限値CUL1は50%を維持するようになり、時刻t4前と同じ速度で第2電流制限値CUL2を増加させると、総合電流制限値CULSの増大速度が低下することになる。 Between time t3 and time t4, since the first current limit value CUL1 and the second current limit value CUL2 both increase and change, the total current limit value CULS increases. Therefore, the first voltage distribution constant VDC1 is increased from 100%. On the other hand, the second voltage distribution constant VDC2 increases from 0% while decreasing.
When the first current limit value CUL1 reaches 50% at time t4, the first current limit value CUL1 maintains 50% after time t4, and the second current limit value CUL2 is set at the same speed as before time t4. If it is increased, the rate of increase of the total current limit value CULS will decrease.
時刻t4から時刻t5までの間では、第1電流制限値CUL1が50%を維持し、第2電流制限値CUL2が50%に向けて増大するので、第2電流制限値CUL2の増加速度が一定であれば、第1電圧分配定数VDC1は一定速度で50%にまで低下することになり、第2電圧分配定数VDC2は一定速度で50%にまで増加することになる。 Therefore, after time t4, the second current limit value CUL2 is increased at the increasing speed of the first current limit value CUL1 from time t1 to time t3, and when the second current limit value CUL2 reaches 50% at time t5, The increasing process of the first current limit value CUL1 and the second current limit value CUL2 ends.
Between time t4 and time t5, the first current limit value CUL1 is maintained at 50%, and the second current limit value CUL2 increases toward 50%. Therefore, the increasing speed of the second current limit value CUL2 is constant. If so, the first voltage distribution constant VDC1 decreases to 50% at a constant speed, and the second voltage distribution constant VDC2 increases to 50% at a constant speed.
また、図6のタイムチャートに示した起動時の電流制限値の設定処理は、図4のタイムチャートに示した温度上昇時での電流制限値の設定処理と、図5のタイムチャートに示した温度上昇時での電流制限値の設定処理とのいずれとも組み合わせることができる。 Note that the increase rate of the total current limit value CULS is not limited to a configuration that is constant from 0% to 100%. For example, the first current is set so that the increase rate of the total current limit value CULS gradually decreases. The increasing speed of the limit value CUL1 and the second current limit value CUL2 can be set.
Further, the setting process of the current limit value at the time of startup shown in the time chart of FIG. 6 is the same as the setting process of the current limit value at the time of temperature rise shown in the time chart of FIG. 4 and the time chart of FIG. It can be combined with any of the current limit value setting processing when the temperature rises.
上記実施形態では、電動機130の起動後の第1インバータ1Aと第2インバータ1Bとの出力比率の基本値を“50:50”としたが、係る出力比率に限定されるものではなく、第1インバータ1Aの出力が第2インバータ1Bに比べて大きい、若しくは、第2インバータ1Bの出力が第1インバータ1Aに比べて大きい設定とすることができる。 Although the contents of the present invention have been specifically described above with reference to the preferred embodiments, it is obvious that those skilled in the art can take various modifications based on the basic technical idea and teachings of the present invention. is there.
In the above embodiment, the basic value of the output ratio between the
また、電動機駆動装置は、電動パワーステアリング装置において操舵補助力を発生する電動機に適用できる他、例えば、車両においてブレーキパッドの押しつけ機構を電動化したブレーキシステムである電動ブレーキ用の電動機や、車両のオイルポンプやウォータポンプを駆動する電動機などに適用することができる。 Further, the
In addition, the electric motor drive device can be applied to an electric motor that generates a steering assist force in an electric power steering device. For example, an electric motor for an electric brake, which is a brake system in which a brake pad pressing mechanism is electrified in a vehicle, It can be applied to an electric motor that drives an oil pump or a water pump.
また、図3のフローチャートにおけるステップS512-ステップS520における第1電圧分配定数VDC1及び第2電圧分配定数VDC2の補正処理を省略することができる。 Further, the correction of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 can be performed based on the moving average value or instantaneous value of the actual current detection value in each inverter.
Further, the correction processing of the first voltage distribution constant VDC1 and the second voltage distribution constant VDC2 in steps S512 to S520 in the flowchart of FIG. 3 can be omitted.
また、電動機駆動装置は、2つのインバータを有する構成に限定されず、同じ電動機に電力を供給する3つ以上のインバータを有する構成とし、3つ以上のインバータのうちの少なくとも2つのインバータの出力比率を可変とする構成とすることができる。 Further, the change in the output ratio between the
In addition, the motor drive device is not limited to the configuration having two inverters, and has a configuration having three or more inverters that supply power to the same motor, and the output ratio of at least two of the three or more inverters. Can be made variable.
Claims (18)
- 第1インバータ及び第2インバータを備え、前記第1インバータと前記第2インバータとの双方から1つの電動機に電力を供給する電動機駆動装置であって、
所定条件で前記第1インバータと前記第2インバータとの出力比率を変更する制御部を備える、電動機駆動装置。 An electric motor drive device that includes a first inverter and a second inverter, and supplies electric power to one electric motor from both the first inverter and the second inverter,
An electric motor drive device comprising a control unit that changes an output ratio between the first inverter and the second inverter under a predetermined condition. - 前記制御部は、前記電動機を起動するときに、前記第1インバータと前記第1インバータの出力を制御する第1制御部との少なくとも一方の診断と、前記第2インバータと前記第2インバータの出力を制御する第2制御部との少なくとも一方の診断とを実施し、先に診断が終了した側のインバータの出力を他方に先行して増加させる、請求項1記載の電動機駆動装置。 The control unit diagnoses at least one of the first control unit and the first control unit that controls the output of the first inverter, and outputs of the second inverter and the second inverter when starting the electric motor. The electric motor drive device according to claim 1, wherein at least one diagnosis with the second control unit that controls the motor is performed, and the output of the inverter on the side where the diagnosis is completed first is increased before the other.
- 前記制御部は、先に診断が終了した側のインバータの出力を所定値にまで増加させてから、診断が終了した他方側のインバータの出力を増加させる、請求項2記載の電動機駆動装置。 The motor drive device according to claim 2, wherein the control unit increases the output of the inverter on the side on which diagnosis has been completed to a predetermined value and then increases the output of the inverter on the other side on which diagnosis has been completed.
- 前記制御部は、前記所定条件で、前記第1インバータと前記第2インバータとの一方の出力を低下させ、他方のインバータの出力を維持又は増加させる、請求項1記載の電動機駆動装置。 The electric motor drive device according to claim 1, wherein the control unit reduces the output of one of the first inverter and the second inverter and maintains or increases the output of the other inverter under the predetermined condition.
- 前記制御部は、前記所定条件で、前記第1インバータと前記第2インバータとの双方の出力を相互に異なる比率で低下させる、請求項1記載の電動機駆動装置。 The electric motor drive device according to claim 1, wherein the control unit reduces the outputs of both the first inverter and the second inverter at different rates under the predetermined condition.
- 前記所定条件は、前記第1インバータと前記第2インバータとの少なくとも一方の温度上昇である、請求項1記載の電動機駆動装置。 The electric motor drive device according to claim 1, wherein the predetermined condition is a temperature increase of at least one of the first inverter and the second inverter.
- 前記第1インバータの出力電流を検出する第1電流検出器と、前記第2インバータの出力電流を検出する第2電流検出器とを備え、
前記所定条件は、前記第1電流検出器と前記第2電流検出値との少なくとも一方が異常である、請求項1記載の電動機駆動装置。 A first current detector for detecting an output current of the first inverter; and a second current detector for detecting an output current of the second inverter;
2. The electric motor drive device according to claim 1, wherein at least one of the first current detector and the second current detection value is abnormal as the predetermined condition. - 前記電動機が、前記第1インバータから電力が供給される3相巻線からなる第1巻線組と、前記第2インバータから電力が供給される3相巻線からなる第2巻線組とを有する3相同期電動機であり、
前記第1インバータの出力を制御する第1制御部、及び、前記第2インバータの出力を制御する第2制御部が、
インバータの相電流をd軸電流とq軸電流とに変換する3相2相変換部と、
前記3相2相変換部で変換されたd軸電流、q軸電流、及び目標電流に基づいてインバータへのd軸指示信号及びq軸指示信号を生成する指示信号生成部と、
前記d軸指示信号及びq軸指示信号を3相指令値に変換する2相3相変換部と、
前記2相3相変換部に入力されるd軸指示信号及びq軸指示信号を補正することで前記出力比率を変更する出力比率補正部と、
をそれぞれ有する、請求項1記載の電動機駆動装置。 The electric motor includes a first winding set including three-phase windings supplied with power from the first inverter and a second winding set including three-phase windings supplied with power from the second inverter. A three-phase synchronous motor having
A first control unit that controls the output of the first inverter, and a second control unit that controls the output of the second inverter;
A three-phase two-phase converter that converts the phase current of the inverter into a d-axis current and a q-axis current;
An instruction signal generation unit that generates a d-axis instruction signal and a q-axis instruction signal to the inverter based on the d-axis current, the q-axis current, and the target current converted by the three-phase to two-phase conversion unit;
A two-phase three-phase converter that converts the d-axis instruction signal and the q-axis instruction signal into a three-phase command value;
An output ratio correction unit that changes the output ratio by correcting the d-axis instruction signal and the q-axis instruction signal input to the two-phase / three-phase conversion unit;
The electric motor drive device according to claim 1, wherein - 前記出力比率補正部は、所定条件に応じて各インバータの出力電流の制限値を演算する電流制限値演算部を備え、各インバータの出力電流の制限値と各インバータの出力電流の制限値の総和である総合電流制限値とから各インバータの出力電圧比率を設定し、当該出力電圧比率に応じてd軸指示信号及びq軸指示信号を補正する、請求項8記載の電動機駆動装置。 The output ratio correction unit includes a current limit value calculation unit that calculates a limit value of the output current of each inverter according to a predetermined condition, and the sum of the limit value of the output current of each inverter and the limit value of the output current of each inverter The motor drive device according to claim 8, wherein an output voltage ratio of each inverter is set from the total current limit value, and the d-axis instruction signal and the q-axis instruction signal are corrected according to the output voltage ratio.
- 前記出力比率補正部は、前記3相2相変換部で変換されたd軸電流とq軸電流との少なくとも一方に応じて前記出力電圧比率を変更する、請求項9記載の電動機駆動装置。 The electric motor drive device according to claim 9, wherein the output ratio correction unit changes the output voltage ratio according to at least one of the d-axis current and the q-axis current converted by the three-phase / two-phase conversion unit.
- 前記出力比率補正部は、前記3相2相変換部で変換されたd軸電流とq軸電流との少なくとも一方をインバータ毎に積分し、該積分値に応じて前記出力電圧比率を変更する、請求項10記載の電動機駆動装置。 The output ratio correction unit integrates at least one of the d-axis current and the q-axis current converted by the three-phase / two-phase conversion unit for each inverter, and changes the output voltage ratio according to the integration value. The electric motor drive device according to claim 10.
- 前記制御部は、前記第1インバータの駆動制御系と前記第2インバータの駆動制御系とのうちの一方に異常が発生したときに、駆動制御系に異常が発生した一方のインバータの出力を低下させ、駆動制御系が正常である他方のインバータの出力を維持又は増加させる、請求項1記載の電動機駆動装置。 When the abnormality occurs in one of the drive control system of the first inverter and the drive control system of the second inverter, the control unit reduces the output of the one inverter in which the abnormality occurred in the drive control system The motor drive device according to claim 1, wherein the output of the other inverter whose drive control system is normal is maintained or increased.
- 前記制御部は、前記第1インバータの温度及び前記第2インバータの温度が異常に上昇したときに、前記第1インバータと前記第2インバータとの双方の出力を、温度上昇の程度の違いに応じた相互に異なる比率で低下させる、請求項1記載の電動機駆動装置。 When the temperature of the first inverter and the temperature of the second inverter rise abnormally, the control unit outputs the outputs of both the first inverter and the second inverter according to the difference in the degree of temperature rise. The motor drive device according to claim 1, wherein the motor drive device is reduced at a different ratio.
- 前記制御部は、前記第1インバータの出力電流を検出する第1電流検出器と前記第2インバータの出力電流を検出する第2電流検出器とのうちの一方に異常が発生したときに、電流検出器に異常が発生した一方のインバータの出力を低下させ、電流検出器が正常である他方のインバータの出力を維持又は増加させる、請求項1記載の電動機駆動装置。 The controller is configured to detect a current when an abnormality occurs in one of a first current detector that detects an output current of the first inverter and a second current detector that detects an output current of the second inverter. The motor drive device according to claim 1, wherein the output of one inverter in which an abnormality has occurred in the detector is reduced, and the output of the other inverter in which the current detector is normal is maintained or increased.
- 第1インバータ及び第2インバータを備え、前記第1インバータと前記第2インバータとの双方から1つの電動機に電力を供給する電動機駆動装置の制御方法であって、
前記第1インバータと前記第2インバータとの出力比率を変更する所定条件を検出するステップと、
前記所定条件において前記第1インバータと前記第2インバータとの出力比率を変更するステップと、
を含む、電動機駆動装置の制御方法。 A control method for an electric motor drive device comprising a first inverter and a second inverter, and supplying electric power to one electric motor from both the first inverter and the second inverter,
Detecting a predetermined condition for changing an output ratio between the first inverter and the second inverter;
Changing an output ratio between the first inverter and the second inverter under the predetermined condition;
A method for controlling an electric motor drive device. - 前記所定条件を検出するステップは、
前記第1インバータの駆動制御系の初期診断及び前記第2インバータの駆動制御系の初期診断の終了タイミングを検出するステップを含み、
前記出力比率を変更するステップは、
初期診断が先に終了した一方のインバータの出力を他方のインバータに先行して増加させるステップを含む、請求項15記載の電動機駆動装置の制御方法。 The step of detecting the predetermined condition includes:
Detecting an end timing of an initial diagnosis of the drive control system of the first inverter and an initial diagnosis of the drive control system of the second inverter;
The step of changing the output ratio includes:
The method for controlling an electric motor drive device according to claim 15, comprising a step of increasing the output of one inverter for which the initial diagnosis has been completed first, prior to the other inverter. - 前記所定条件を検出するステップは、
前記第1インバータの駆動制御系と前記第2インバータの駆動制御系とのいずれか一方が異常であることを検出するステップを含み、
前記出力比率を変更するステップは、
駆動制御系に異常が発生した一方のインバータの出力を低下させ、駆動制御系が正常である他方のインバータの出力を維持又は増加させるステップを含む、請求項15記載の電動機駆動装置の制御方法。 The step of detecting the predetermined condition includes:
Detecting that one of the drive control system of the first inverter and the drive control system of the second inverter is abnormal,
The step of changing the output ratio includes:
16. The method for controlling an electric motor drive device according to claim 15, further comprising a step of reducing the output of one inverter in which an abnormality has occurred in the drive control system and maintaining or increasing the output of the other inverter in which the drive control system is normal. - 前記所定条件を検出するステップは、
前記第1インバータの温度及び前記第2インバータの温度が異常に上昇したことを検出するステップを含み、
前記出力比率を変更するステップは、
前記第1インバータの温度及び前記第2インバータの温度が異常に上昇したときに、前記第1インバータと前記第2インバータとの双方の出力を、温度上昇の程度の違いに応じた相互に異なる比率で低下させるステップを含む、請求項15記載の電動機駆動装置の制御方法。 The step of detecting the predetermined condition includes:
Detecting that the temperature of the first inverter and the temperature of the second inverter have risen abnormally;
The step of changing the output ratio includes:
When the temperature of the first inverter and the temperature of the second inverter rise abnormally, the outputs of both the first inverter and the second inverter are different from each other according to the degree of the temperature rise. The method for controlling an electric motor drive device according to claim 15, comprising a step of reducing the electric motor drive.
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CN108778895A (en) * | 2016-03-14 | 2018-11-09 | 三菱电机株式会社 | The three-phase double electronic device of electric power-assisted steering apparatus |
US10644642B2 (en) | 2016-03-14 | 2020-05-05 | Mitsubishi Electric Corporation | Three phase duplexing motor for electric power steering apparatus |
JP2020069856A (en) * | 2018-10-30 | 2020-05-07 | 三菱電機株式会社 | Electric braking device |
Also Published As
Publication number | Publication date |
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JP6153860B2 (en) | 2017-06-28 |
JP2015122918A (en) | 2015-07-02 |
CN105850030B (en) | 2018-07-24 |
CN105850030A (en) | 2016-08-10 |
KR20160100301A (en) | 2016-08-23 |
DE112014006003B4 (en) | 2024-04-25 |
US20160329853A1 (en) | 2016-11-10 |
US9985567B2 (en) | 2018-05-29 |
DE112014006003T5 (en) | 2016-09-15 |
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